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#ifndef __OPENCV_PRECOMP_H__
#define __OPENCV_PRECOMP_H__

#include "cvconfig.h"
#include "opencv2/tracking.hpp"
#include "opencv2/core/utility.hpp"
#include "opencv2/core/ocl.hpp"
#include <typeinfo>
#include "opencv2/core/hal/hal.hpp"

namespace cv
{
	extern const float ColorNames[][10];

    namespace tracking {

    /* Cholesky decomposition
     The function performs Cholesky decomposition <https://en.wikipedia.org/wiki/Cholesky_decomposition>.
     A - the Hermitian, positive-definite matrix,
     astep - size of row in A,
     asize - number of cols and rows in A,
     L - the lower triangular matrix, A = L*Lt.
    */

    template<typename _Tp> bool
    inline callHalCholesky( _Tp* L, size_t lstep, int lsize );

    template<> bool
    inline callHalCholesky<float>( float* L, size_t lstep, int lsize )
    {
        return hal::Cholesky32f(L, lstep, lsize, NULL, 0, 0);
    }

    template<> bool
    inline callHalCholesky<double>( double* L, size_t lstep, int lsize)
    {
        return hal::Cholesky64f(L, lstep, lsize, NULL, 0, 0);
    }

    template<typename _Tp> bool
    inline choleskyDecomposition( const _Tp* A, size_t astep, int asize, _Tp* L, size_t lstep )
    {
        bool success = false;

        astep /= sizeof(_Tp);
        lstep /= sizeof(_Tp);

        for(int i = 0; i < asize; i++)
            for(int j = 0; j <= i; j++)
                L[i*lstep + j] = A[i*astep + j];

       success = callHalCholesky(L, lstep*sizeof(_Tp), asize);

       if(success)
       {
           for(int i = 0; i < asize; i++ )
               for(int j = i + 1; j < asize; j++ )
                   L[i*lstep + j] = 0.0;
       }

        return success;
    }

    } // tracking
} // cv

#endif
